RangeFinder: add PulsedLight example sketch

libraries/AP_RangeFinder/examples/PulsedLightLRF_test/Makefile

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+BOARD	=	mega
+include ../../../../mk/apm.mk

libraries/AP_RangeFinder/examples/PulsedLightLRF_test/PulsedLightLRF_test.pde

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+/*
+ *  AP_RangeFinder_test
+ *  Code by DIYDrones.com
+ */
+
+// includes
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_Param.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_Empty.h>
+#include <AP_Math.h>
+#include <AP_RangeFinder.h>
+#include <Filter.h>
+#include <AP_Buffer.h>
+
+////////////////////////////////////////////////////////////////////////////////
+// hal.console-> ports
+////////////////////////////////////////////////////////////////////////////////
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+
+// declare global instances
+ModeFilterInt16_Size5 mode_filter(2);
+AP_RangeFinder_PulsedLightLRF lrf(&mode_filter);
+
+void setup()
+{
+    // print welcome message
+    hal.console->println("PulsedLight LRF Test v1.1");
+
+    // ensure i2c is slow
+    hal.i2c->setHighSpeed(false);
+
+    // initialise sensor
+    lrf.init();
+
+    // kick off one reading
+    lrf.take_reading();
+
+    // check health
+    if (!lrf.healthy) {
+        hal.console->println("Initialisation failed");
+    }
+}
+
+void loop()
+{
+    int16_t distance;
+
+    // ask sensor take a reading
+    //lrf.take_reading();
+    hal.scheduler->delay(50);
+
+    // get distance
+    distance = lrf.read();
+
+    // display output
+    //hal.console->printf_P(PSTR("dist: %d \thealth:%d \tb0:%d b1:%d\n"),(int)distance,(int)lrf.healthy,(int)lrf._buff[0], (int)lrf._buff[1]);
+    //hal.console->printf_P(PSTR("dist: %d\n"),(int)distance);
+    hal.console->printf_P(PSTR("dist: %d  %d\n"),(int)distance,(int)lrf.healthy);
+}
+
+AP_HAL_MAIN();